An ROS Architecture for Autonomous Mobile Robots with UCAR Platforms in Smart Restaurants
To lessen the spread of COVID-19 and other dangerous bacteria and viruses, contactless distribution of different items has gained widespread popularity. In order to complete delivery tasks at a catering facility, this paper explores the development of an autonomous mobile robot. The robot, in partic...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-09-01
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| Series: | Machines |
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| Online Access: | https://www.mdpi.com/2075-1702/10/10/844 |
| _version_ | 1797406984995078144 |
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| author | Peng Guo Haichao Shi Shijie Wang Liansheng Tang Zipeng Wang |
| author_facet | Peng Guo Haichao Shi Shijie Wang Liansheng Tang Zipeng Wang |
| author_sort | Peng Guo |
| collection | DOAJ |
| description | To lessen the spread of COVID-19 and other dangerous bacteria and viruses, contactless distribution of different items has gained widespread popularity. In order to complete delivery tasks at a catering facility, this paper explores the development of an autonomous mobile robot. The robot, in particular, plans its path and maintains smooth and flexible mobility using a Time Elastic Band (TEB) motion control method and an upgraded Dijkstra algorithm. On the open-source AI platform of iFLYTEK, a voice recognition module was trained to recognize voice signals of different tones and loudness, and an image recognition capability was attained using YOLOv4 and SIFT. The UCAR intelligent vehicle platform, made available by iFLYTEK, served as the foundation for the development of the mobile robot system. The robot took part in China’s 16th National University Student Intelligent Car Race, an experimental demonstration test of the developed mobile robotics. The results of the experiments and task tests demonstrated that the proposed robot architecture was workable. In addition, we designed and put together a mobile robot utilizing components from the Taobao website. Compared to UCAR, this robot is less expensive and has the flexibility to be used in a variety of real-world settings. |
| first_indexed | 2024-03-09T03:34:43Z |
| format | Article |
| id | doaj.art-8ed0fe26cb8140469212948e77d5397d |
| institution | Directory Open Access Journal |
| issn | 2075-1702 |
| language | English |
| last_indexed | 2024-03-09T03:34:43Z |
| publishDate | 2022-09-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Machines |
| spelling | doaj.art-8ed0fe26cb8140469212948e77d5397d2023-12-03T14:50:43ZengMDPI AGMachines2075-17022022-09-01101084410.3390/machines10100844An ROS Architecture for Autonomous Mobile Robots with UCAR Platforms in Smart RestaurantsPeng Guo0Haichao Shi1Shijie Wang2Liansheng Tang3Zipeng Wang4The Key Laboratory of Advanced Manufacturing Technology, Ministry of Education, Guiyang 550025, ChinaSchool of Mechanical Engineering, Southwest Jiaotong University, Chengdu 610031, ChinaSchool of Mechanical Engineering, Southwest Jiaotong University, Chengdu 610031, ChinaSchool of Economics and Management, Ningbo University of Technology, Ningbo 315211, ChinaSchool of Mechanical Engineering, Southwest Jiaotong University, Chengdu 610031, ChinaTo lessen the spread of COVID-19 and other dangerous bacteria and viruses, contactless distribution of different items has gained widespread popularity. In order to complete delivery tasks at a catering facility, this paper explores the development of an autonomous mobile robot. The robot, in particular, plans its path and maintains smooth and flexible mobility using a Time Elastic Band (TEB) motion control method and an upgraded Dijkstra algorithm. On the open-source AI platform of iFLYTEK, a voice recognition module was trained to recognize voice signals of different tones and loudness, and an image recognition capability was attained using YOLOv4 and SIFT. The UCAR intelligent vehicle platform, made available by iFLYTEK, served as the foundation for the development of the mobile robot system. The robot took part in China’s 16th National University Student Intelligent Car Race, an experimental demonstration test of the developed mobile robotics. The results of the experiments and task tests demonstrated that the proposed robot architecture was workable. In addition, we designed and put together a mobile robot utilizing components from the Taobao website. Compared to UCAR, this robot is less expensive and has the flexibility to be used in a variety of real-world settings.https://www.mdpi.com/2075-1702/10/10/844autonomous mobile robotUCARrobot operating systemcontactless distributionsmart restaurant |
| spellingShingle | Peng Guo Haichao Shi Shijie Wang Liansheng Tang Zipeng Wang An ROS Architecture for Autonomous Mobile Robots with UCAR Platforms in Smart Restaurants Machines autonomous mobile robot UCAR robot operating system contactless distribution smart restaurant |
| title | An ROS Architecture for Autonomous Mobile Robots with UCAR Platforms in Smart Restaurants |
| title_full | An ROS Architecture for Autonomous Mobile Robots with UCAR Platforms in Smart Restaurants |
| title_fullStr | An ROS Architecture for Autonomous Mobile Robots with UCAR Platforms in Smart Restaurants |
| title_full_unstemmed | An ROS Architecture for Autonomous Mobile Robots with UCAR Platforms in Smart Restaurants |
| title_short | An ROS Architecture for Autonomous Mobile Robots with UCAR Platforms in Smart Restaurants |
| title_sort | ros architecture for autonomous mobile robots with ucar platforms in smart restaurants |
| topic | autonomous mobile robot UCAR robot operating system contactless distribution smart restaurant |
| url | https://www.mdpi.com/2075-1702/10/10/844 |
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